Systems and methods for autonomous generation of maps

ABSTRACT

Systems and methods for generating maps for retail environments and other indoor locations, such as via autonomous or other automatic processes, are described. In some embodiments, the systems and methods access images of a retail environment captured via multiple security cameras placed within the retail environment, and generate a two- or three-dimensional digital, virtual and/or interactive map that depicts a layout of the retail environment based on features extracted from the accessed images. For example, the systems and methods may extract and/or determine walkable paths within the images, and generate a two- or three-dimensional map that is based on placing the walkable paths within the retail environment.

CROSS REFERENCE TO RELATED APPLICATIONS

This application claims priority to U.S. Provisional Patent ApplicationNo. 62/572,017, filed on Oct. 13, 2017, entitled AUTONOMOUS GENERATIONOF MAPS, which is hereby incorporated by reference in its entirety.

BACKGROUND

Generating maps of continuously changing areas, such as in-store,retail, or other indoor environments or locations, can be an arduous andcomplex process. For example, maintaining an up-to-date map of a floorplan for an entire store, group of stores (e.g., a mall, an airport, andso on), or other configurable indoor space (e.g., a convention center)is generally performed manually by updating a previously created mapwhen the layout of certain areas change (e.g., fixtures or departmentsare rearranged or otherwise modified from previous configurations).Thus, it can be a difficult and time-consuming process to accuratelyreflect the constantly changing environment of a store or otherestablishment with updated maps of the current configuration.

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments of the present technology will be described and explainedthrough the use of the accompanying drawings.

FIG. 1 is a block diagram illustrating a suitable computing environmentfor autonomously generating maps for indoor locations.

FIG. 2 is a flow diagram illustrating method for autonomously generatinga map for a retail environment in accordance with embodiments of thepresent technology.

FIG. 3 depicts example images of an indoor location utilized as inputfor a map generating system configured in accordance with embodiments ofthe present technology.

FIG. 4 is a diagram illustrating an example map autonomously generatedfrom images captured from a retail environment.

FIG. 5 depicts example images of fixtures extracted from a combinedimage of an indoor location.

The drawings have not necessarily been drawn to scale. Similarly, somecomponents and/or operations may be separated into different blocks orcombined into a single block for the purposes of discussion of some ofthe embodiments of the present technology. Moreover, while thetechnology is amenable to various modifications and alternative forms,specific embodiments have been shown by way of example in the drawingsand are described in detail below. The intention, however, is not tolimit the technology to the particular embodiments described. On thecontrary, the technology is intended to cover all modifications,equivalents, and alternatives falling within the scope of the technologyas defined by the appended claims.

DETAILED DESCRIPTION Overview

Systems and methods for generating maps for retail environments andother indoor locations, such as via autonomous or other automaticprocesses, are described. In some embodiments, the systems and methodsaccess images of a retail environment captured via multiple securitycameras placed within the retail environment, and generate atwo-dimensional digital, virtual and/or interactive map that depicts alayout of the retail environment based on features extracted from theaccessed images. For example, the systems and methods may extract and/ordetermine walkable paths within the images, and generate atwo-dimensional map that is based on placing the walkable paths withinthe retail environment. The systems and methods may also oralternatively access images of a retail environment, and create anaerial view of the retail environment by stitching together the accessedimages. Using the aerial view or other combined image, the system andmethods identify multiple layout features (e.g., racks, counters, orother fixed, semi-permanent, or movable physical objects) within thecreated aerial view of the retail environment. The system and methodsgenerate a two-dimensional (2D) map of the retail environment using theidentified multiple layout features. The 2D map may include the variousextracted features, such as fixtures, racks, products, people orcustomers, point of sale counters, or walkable paths within the retailenvironment. Further, the 2D map may estimate certain features (e.g.,walkable or traversable paths or free areas) based on features (e.g.,fixtures such as racks or counters) within the aerial view of theenvironment. Thus, in some embodiments, the autonomous generation ofmaps, such as maps that depict layouts of retail stores and/or otherindoor or frequently changing environments, enable owners or retailersof the environments to provide their customers with up-to-date, accurateinformation of locations (e.g., product areas) within the environments.

Further, providing updated and/or current layout information with themaps enhances wayfinder capabilities of the maps, as well as otherinteractive applications associated with the maps and provided tocustomers. Thus, the systems and methods disclosed herein enable themaps to facilitate navigation within the retail environment at differentlevels of granularity (e.g., from department level to product level toitem level), even as the layout or locations of items within theenvironment changes.

Various embodiments of the systems and methods will be described hereinwith reference to FIGS. 1-5. Although many of the embodiments aredescribed with respect to systems and methods for autonomous mapgeneration in a retail environment, other applications and otherembodiments in addition to those described herein are within the scopeof the present technology. For example, at least some embodiments of thepresent technology may be useful for autonomously generating maps inother environments with frequently changing layouts or features, suchconvention centers, airports, markets, and amusement parks. It should benoted that other embodiments in addition to those disclosed herein arewithin the scope of the present technology. Further, embodiments of thepresent technology can have different configurations, components, and/orprocedures than those shown or described herein. Moreover, a person ofordinary skill in the art will understand that embodiments of thepresent technology can have configurations, components, and/orprocedures in addition to those shown or described herein and that theseand other embodiments can be without several of the configurations,components, and/or procedures shown or described herein withoutdeviating from the present technology.

Additionally, some well-known structures or functions may not be shownor described in detail, so as to avoid unnecessarily obscuring therelevant description of the various embodiments. The terminology used inthe description presented below is intended to be interpreted in itsbroadest reasonable manner, even though it is being used in conjunctionwith a detailed description of certain specific embodiments.

Examples of a Suitable Computing Environment

As described herein, the systems and methods, in some embodiments,generate maps autonomously from multiple images taken from a retail orother indoor environment or location, such as a retail store. FIG. 1 isa block diagram illustrating a suitable computing environment 100 forautonomously generating maps of an indoor location. The computingenvironment 100 includes a map generation system 150, which isconfigured to autonomously generate maps (e.g., two-dimensionaldepictions, displays, interactive presentations, and so on), of floorplans, layouts, product placements, walkable paths, or otherconfigurations of indoor spaces or areas, such as retail storeenvironments.

The map generation system 150 receives or accesses images from cameraspositioned within a retail store, such as cameras positioned as security(e.g., anti-theft, security or surveillance) cameras within the store.For example, an in-store camera system 110 may direct, control, and/ormanage one or more cameras, such as PZT (pan, zoom tilt) camera 105A-Carranged within the store and configured to capture images of theenvironment within the store. The cameras may be traditional securitycameras, image sensors, or any imaging or capture devices configured totrack and capture, at multiple different angles, images or video of athree-dimensional space, such as the inner area of a building, store, orother structure. In some embodiments, cameras are attached to structuresin fixed locations, such as a wall, ceiling, shelving, door, and/orother fixed structures. In these and other embodiments, cameras areaffixed to movable structures or devices, such as autonomous vehicles(e.g., drones, robots, robotic arms, etc.), a movable rail system,and/or other movable structures.

The map generation system 150, in some embodiments, accesses image feedsvia a network 125, such as images taken by some or all cameras 105A-C ofthe in-store camera system 110. As will be described in more detailherein, the map generation system 150 combines the accessed images, viastitching algorithms, to create an aerial (or other panoramic orcombined) view of an area within a store to be mapped, and generates amap based on features identified and/or extracted from the createdaerial view.

Once a map is generated by the map generation system 150, the system 150sends or otherwise transfers the generated map to various storeinformation systems 130, which utilize the map to provide information tocustomers, employees, third-party contractors, and/or other individualsthat would benefit from the map information. The system 150 can alsoprovide information related to the map to various applications. In somecases, the store information systems 130 may include some or all aspectsof the map generation system 150.

In some embodiments, the store information systems 130 provideinteractive maps to customers and other users of a retail store or otherindoor location. The interactive maps may present a two-dimensional viewor layout of the retail store, based on various objects within thecaptured images of the retail store. The store information systems 130may present the interactive maps to customers via physical interfacesplaced within the retail store, and/or via mobile applicationsassociated with the retail store and configured to display informationassociated with the retail store and perform various services or actionson behalf of the retail store. Thus, the store information systems 130may present maps to customers via various devices, such as in-store userinterfaces, or mobile devices associated with the customers. Forexample, the store information systems 130 may provide variousapplications associated with interactive maps that present updatedlayout information for a retail store or other indoor location,including:

Information applications, such as real-time navigation maps and/orinformation kiosks within the store that present updated maps of thestore provided by the system 150. These kiosks, tablet computers, smartphones, or other in-store devices may present interfaces to customersthat facilitate the display of information that presents locations orpositions of products, departments, areas, services, and so on. In someembodiments, the system 150 transmits the information to wayfinderapplications, such as applications that generate and provide walkable ortraversable paths within the store from a customer's position to currentpositions or locations of items, products, and/or areas of interest andlocated within the store. In these and other embodiments, the system 150transmits the information to item identification applications, such asapplications that identify, via the interactive map, locations and/orpositions of items, products, and/or fixtures within the store, as wellas shopping assist applications that determine and display, based onlists of items to be purchased by a customer, preferred or optimalnavigation paths within the store to guide a customer to efficientlytraverse the store and obtain each of the items. In these and otherembodiments, the system 150 transmits the information to advertisingapplications, such as applications that present advertisements, coupons,or other incentives via the interactive map to customers as theynavigate the store. Thus, in some embodiments, various in-store devicesor kioks, mobile applications, and/or auxiliary systems may generate orutilize updated, accurate maps of the retail store and/or variousaspects thereof, in order to provide customers with layout informationfor a retail store, navigation assistance within the store, targetedadvertisements or promotions via the map, efficient routing with thestore, and other applications.

FIG. 1 and the discussion herein provide a brief, general description ofthe components of the network environment 100. Although not required,aspects of the network environment 100 are described in the generalcontext of computer-executable instructions, such as routines executedby a general-purpose computer, e.g., mobile device, a server computer,or personal computer. The system can be practiced with othercommunications, data processing, or computer system configurations,including: Internet appliances, hand-held devices (including tabletcomputers and/or personal digital assistants (PDAs)), all manner ofcellular or mobile phones, (e.g., smart phones), multi-processorsystems, microprocessor-based or programmable consumer electronics,set-top boxes, network PCs, mini-computers, mainframe computers, and thelike. Indeed, the terms “computer,” “host,” and “host computer,” and“mobile device” and “handset” are generally used interchangeably herein,and refer to any of the above devices and systems, as well as any dataprocessor.

Aspects of the environment 100 can be embodied in a special purposecomputing device or data processor that is specifically programmed,configured, or constructed to perform one or more of thecomputer-executable instructions explained in detail herein. Aspects ofthe system may also be practiced in distributed computing environmentswhere tasks or modules are performed by remote processing devices, whichare linked through a communications network, such as a Local AreaNetwork (LAN), Wide Area Network (WAN), or the Internet. In adistributed computing environment, program modules may be located inboth local and remote memory storage devices.

Aspects of the environment 100 may be stored or distributed oncomputer-readable media (e.g., physical and/or tangible non-transitorycomputer-readable storage media), including magnetically or opticallyreadable computer discs, hard-wired or preprogrammed chips (e.g., EEPROMsemiconductor chips), nanotechnology memory, or other data storagemedia. Indeed, computer implemented instructions, data structures,screen displays, and other data under aspects of the system may bedistributed over the Internet or over other networks (including wirelessnetworks), on a propagated signal on a propagation medium (e.g., anelectromagnetic wave(s), a sound wave, etc.) over a period of time, orthey may be provided on any analog or digital network (packet switched,circuit switched, or other scheme). Portions of the system reside on aserver computer, while corresponding portions reside on a clientcomputer such as a mobile or portable device, and thus, while certainhardware platforms are described herein, aspects of the system areequally applicable to nodes on a network. In an alternative embodiment,a mobile device or portable device may represent the server portion,while the server may represent the client portion.

Examples of Autonomously Generating Maps of Retail Environments

As described herein, the map generation system 150 includes variouscomponents configured to autonomously generate maps of indoor locationsor areas, such as retail stores. Such components may include functionalmodules or systems that are implemented with a combination of software(e.g., executable instructions, or computer code) and hardware (e.g., atleast a memory and processor). Accordingly, as used herein, in someexamples a module or system is a processor-implemented module, system,or set of code and represents a computing device having a processor thatis at least temporarily configured and/or programmed by executableinstructions stored in memory to perform one or more of the particularfunctions that are described herein.

In some embodiments, the systems and methods include an image moduleconfigured to access images of a desired environment or area (e.g., aretail store) captured via multiple security cameras positioned withinor near the desired area, and a map generation module configured togenerate a map depicting a layout of the desired area based on featuresextracted from the accessed images. For example, the map generationmodule may create an aerial view (or other wide area or panoramic view)of a retail environment by stitching together the accessed images into acombined image, identify multiple layout features within the createdaerial view of the retail environment, and transform or modify theaerial view into a two-dimensional or three-dimensional map of theretail environment using the identified multiple layout features.

As described herein, the map generation system 150 may perform variousprocesses when autonomously generating maps of retail environments. FIG.2 is a flow diagram illustrating a method 200 for autonomouslygenerating a map for a retail environment. The method 200 may beperformed by the map generation system 150, and, accordingly, isdescribed herein merely by way of reference thereto. It will beappreciated that the method 200 may be performed on any suitablehardware.

In operation 210, the system 150 accesses images of a retail environmentcaptured via multiple cameras placed within the retail environment. Forexample, the system 150 may access images taken or captured by securitycameras, such as PTZ (pan, tilt, zoom) cameras, which capture wide areaimages of a space during security or other tracking applications. Inthese and other embodiments, the cameras can be secured to fixedstructures and/or movable structures.

In operation 220, the system 150 creates an aerial view of the retailenvironment by stitching together the accessed images. For example, thesystem 150 may utilize various stitching algorithms (e.g., AutopanoGiga) or panorama applications that identify overlap with edges offields of view between images, and combine the images into a single view(e.g., a segmented panorama view) of an area. The system 150, therefore,creates a combined image of the retail environment that depicts acertain view of the environment, such as an aerial view, bird's eyeview, overhead view, or other elevated, top down, or angled views of theenvironment. Thus, in some cases, the system 150 utilizes various imageprocessing algorithms or machine-learning processes to assist incombining PTZ images, which may not be sufficiently angled to provide anaerial view within the image, into a single, combined, aerial view of aspace or environment.

In other cases, such as when the system 150 receives informationidentifying the positioning of the cameras within the space, the system150 may combine the images into an aerial view without stitching theimages. For example, by getting depth information from a sensor attachedto one or more of the cameras 105A-C, the system 150 can build orotherwise create a three-dimensional (3D) rending of the retail store orindoor location. Thus, taking an aerial view of the 3D rendering mayresult in a 2D view, which the system 150 may then process and/oranalyze for fixture or other object extractions.

In operation 230, the system 150 identifies multiple layout featureswithin the created aerial view of the retail environment. For example,the system 150 identifies fixed objects (e.g., fixtures) within theaerial view, and/or dynamic movement (e.g., walking customers) withinthe aerial view, and determines or identifies features to be added to agenerated map. In some cases, the system 150 utilizes machine learningto deduce features within the aerial view, such as fixtures, racks,products, people, point of sale counters, walkable paths, and otherfeatures, presented in the images. Thus, the system 150 may employvarious processes when identifying or detecting features within theimages. For example, the system may employ edge detection processes,corner detection processes, blob detection processes, ridge detectionprocesses, and so on.

FIG. 3 depicts example images utilized as input for the map generatingsystem 150. As depicted, the in-store camera system 110 generates animage feed 300 of various images 310 taken at various angles of an area.Each image 310 may include (or, not include) certain features, such asstatic objects (e.g., point of sale counters, racks of products, walls),or dynamic movement (e.g., customers walking). The system 150, asdescribed herein, may stitch together the images 300 to create a singleaerial view of the area.

Returning back to FIG. 2, in operation 240, the system 150 transformsthe aerial view into a two- or three-dimensional map of the retailenvironment using the identified multiple layout features. For example,the system 150 generates a map of various placements of fixtures andother static objects within the images, and determines or estimateswalking, walkable, passable, or traversable paths (e.g., racetracks)between the fixtures (and, correspondingly), within the retail store.

For example, FIG. 4 is a diagram illustrating an example map 400autonomously generated from images captured from a retail environment.The map 400 is based on the images accessed and depicted in FIG. 3, andpresents estimated walking paths 410 within the area captured in theimages 300. As shown, the walking paths are estimated to be positionedin areas absent any detected objects 420 within the images, such asfixtures (e.g., racks of products). Of course, the generated map mayinclude other features, such as product placements, fixture or salecounter placements, department or section locations, paths, escalatorlocations, bathroom locations, cart areas, and other locations within astore or other indoor environment. For example, FIG. 5 depicts acombined image 500 of an area within a retail environment. The imageincludes various identified objects 510, such as fixtures 520 (e.g.,racks of clothing or products) and a point of sale counter 630.

Thus, the system 150, in some cases, may generate a map (or otherwisetransform images of an indoor location into a 2D map of the location byperforming object recognition techniques to identify the multiple layoutfeatures within the combined image, generating an intermediate map thatpresents the identified multiple layout features at fixed positionswithin the indoor location, estimating positions of one or more layoutpaths based within the indoor location based on the fixed positions ofthe multiple layout features within the indoor location, and generatingthe interactive map to include the multiple layout features and the oneor more layout paths within the indoor location.

As described herein, the system 150 may utilize previous maps and/orcorresponding images of a retail environment when updating or otherwisegenerating a map of a current configuration of the retail environment.The system 150 may, therefore, access the previous maps along withcurrent images of the environment when rendering current maps for theenvironment (or, portions thereof).

Further, the system 150 may automatically update or modify generatedmaps based on information that changes to a monitored location orenvironment have occurred. For example, the system 150 may receive anindication that at least a portion of the environment within the indoorlocation has changed, and generate an updated version of the interactivemap of the environment within the indoor location that is based, atleast in part, on one or more layout features within images taken by themultiple security cameras after the indication was received. Theindication may be automatic (e.g. a sensor sends a message that afixture has moved positions) or manual (e.g., a store employee may runan update to the map based on a reconfiguration of fixtures within thelocation).

In some cases, the system 150 identifies, within the images, specificitems or other identifying fixtures, such as e-signs, SKUs, and so on,in order to associate fixtures or items to locations within the store.The system may track such information in relation to other proximatefixtures (or paths), and match the relational information whendetermining what images/features correspond with map layout features(e.g., racetracks, fixtures, and so on). The store information systems130 may utilize such information when providing various applications,such as wayfinder applications, shopping assist applications, productidentifications, and so on.

The system 150, therefore, generates an interactive map of an indoorlocation, by receiving multiple different images of an environmentwithin the indoor location, where the images are received from multiplesecurity cameras placed within the indoor location and configured totake the multiple different images of the environment within the indoorlocation, combining the multiple different images to create a combinedimage that presents an aerial view of the environment within the indoorlocation, identifying multiple layout features within the combined imageof the environment within the indoor location, and generating aninteractive map of the environment within the indoor location that isbased on the identified multiple layout features. As described herein,the generated interactive map depicts a layout of the environment withinthe indoor location, and/or provides an interactive display of theenvironment within the indoor location.

Thus, in some embodiments, the systems and methods createtwo-dimensional maps of walkable paths within retail or other indoorenvironments using features extracted from wide area images of theenvironments, such as via PZT or other security-type cameras thatcapture images of the environments, among other benefits.

In doing so, the systems and method improve upon existing map generationsystems, utilizing existing infrastructure (e.g., security cameras)and/or to monitor a space or location, determine when the space orlocation has changed (e.g., contents within the space have beenmodified), identify those changes, and update maps that present variousaspects of the space or location with current information, such ascurrent layout or item placement information.

CONCLUSION

Unless the context clearly requires otherwise, throughout thedescription and the claims, the words “comprise”, “comprising,” and thelike are to be construed in an inclusive sense, as opposed to anexclusive or exhaustive sense; that is to say, in the sense of“including, but not limited to.” As used herein, the terms “connected,”“coupled,” or any variant thereof, means any connection or coupling,either direct or indirect, between two or more elements; the coupling ofconnection between the elements can be physical, logical, or acombination thereof. Additionally, the words “herein”, “above”, “below”,and words of similar import, when used in this application, shall referto this application as a whole and not to any particular portions ofthis application. Where the context permits, words in the above DetailedDescription using the singular or plural number may also include theplural or singular number respectively. The word “or”, in reference to alist of two or more items, covers all of the following interpretationsof the word: any of the items in the list, all of the items in the list,and any combination of the items in the list.

The above detailed description of embodiments of the disclosure is notintended to be exhaustive or to limit the teachings to the precise formdisclosed above. While specific embodiments of, and examples for, thedisclosure are described above for illustrative purposes, variousequivalent modifications are possible within the scope of thedisclosure, as those skilled in the relevant art will recognize. Forexample, while processes or blocks are presented in a given order,alternative embodiments may perform routines having steps, or employsystems having blocks in a different order, and some processes or blocksmay be deleted, moved, added, subdivided, combined, and/or modified toprovide alternative or subcombinations. Each of these processes orblocks may be implemented in a variety of different ways. Also, whileprocesses or blocks are at times shown as being performed in series,these processes or blocks may instead be performed in parallel, or maybe performed at different times. Further, any specific numbers notedherein are only examples: alternative implementations may employdiffering values or ranges.

The teachings of the disclosure provided herein can be applied to othersystems, not necessarily the system described above. The elements andacts of the various embodiments described above can be combined toprovide further embodiments.

Any patents and applications and other references noted above, includingany that may be listed in accompanying filing papers, are incorporatedherein by reference. Aspects of the disclosure can be modified, ifnecessary, to employ the systems, functions, and concepts of the variousreferences described above to provide yet further embodiments of thedisclosure.

These and other changes can be made to the disclosure in light of theabove Detailed Description. While the above description describescertain embodiments of the disclosure, and describes the best modecontemplated, no matter how detailed the above appears in text, theteachings can be practiced in many ways. Details of the system may varyconsiderably in its implementation details, while still beingencompassed by the subject matter disclosed herein. As noted above,particular terminology used when describing certain features or aspectsof the disclosure should not be taken to imply that the terminology isbeing redefined herein to be restricted to any specific characteristics,features, or aspects of the disclosure with which that terminology isassociated. In general, the terms used in the following claims shouldnot be construed to limit the disclosure to the specific embodimentsdisclosed in the specification, unless the above Detailed Descriptionsection explicitly defines such terms. Accordingly, the actual scope ofthe disclosure encompasses not only the disclosed embodiments, but alsoall equivalent ways of practicing or implementing the disclosure underthe claims.

From the foregoing, it will be appreciated that specific embodimentshave been described herein for purposes of illustration, but thatvarious modifications may be made without deviating from the spirit andscope of the embodiments. Accordingly, the embodiments are not limitedexcept as by the appended claims.

I/we claim:
 1. A non-transitory computer-readable medium whose contents,when executed by a computing system, cause the computing system toperform a method of generating an interactive map of an indoor location,the method comprising: receiving multiple different images of anenvironment within the indoor location, wherein the images are receivedfrom multiple security cameras placed within the indoor location andconfigured to take the multiple different images of the environmentwithin the indoor location; combining the multiple different images tocreate a combined image that presents an aerial view of the environmentwithin the indoor location; identifying multiple layout features withinthe combined image of the environment within the indoor location; andgenerating an interactive map of the environment within the indoorlocation that is based on the identified multiple layout features,wherein the generated interactive map depicts a layout of theenvironment within the indoor location, and wherein the generatedinteractive map provides an interactive display of the environmentwithin the indoor location.
 2. The non-transitory computer-readablemedium of claim 1, wherein generating an interactive map of theenvironment within the indoor location that is based on the identifiedmultiple layout features includes: performing object recognitiontechniques to identify the multiple layout features within the combinedimage; generating an intermediate map that presents the identifiedmultiple layout features at fixed positions within the indoor location;estimating positions of one or more layout paths based within the indoorlocation based on the fixed positions of the multiple layout featureswithin the indoor location; and generating the interactive map toinclude the multiple layout features and the one or more layout pathswithin the indoor location.
 3. The non-transitory computer-readablemedium of claim 1, further comprising: receiving an indication that atleast a portion of the environment within the indoor location haschanged; and generating an updated version of the interactive map of theenvironment within the indoor location that is based, at least in part,on one or more layout features within images taken by the multiplesecurity cameras after the indication was received.
 4. Thenon-transitory computer-readable medium of claim 1, wherein combiningthe multiple different images to create a combined image that presentsan aerial view of the environment within the indoor location includesstitching the images together to generate a combined image that depictsa segmented panorama view of the environment within the indoor location.5. The non-transitory computer-readable medium of claim 1, whereinreceiving multiple different images of an environment within the indoorlocation includes receiving the multiple different images from PZT (pan,zoom, tilt) cameras arranged within the indoor location.
 6. Thenon-transitory computer-readable medium of claim 1, wherein receivingmultiple different images of an environment within the indoor locationincludes receiving the multiple different images from PZT (pan, zoom,tilt) cameras arranged within the indoor location and configured to takeimages of at least a portion of the environment within the indoorlocation.
 7. The non-transitory computer-readable medium of claim 1,wherein generating an interactive map of the environment within theindoor location that is based on the identified multiple layout featuresincludes determining a layout that includes multiple racetracksestimated to be positioned between the multiple different featureswithin the indoor location.
 8. The non-transitory computer-readablemedium of claim 1, wherein the multiple different features includestatic objects positioned within the indoor location.
 9. Thenon-transitory computer-readable medium of claim 1, wherein the multipledifferent features include moving objects positioned within the indoorlocation.
 10. The non-transitory computer-readable medium of claim 1,wherein the indoor location is a retail store, and wherein the generatedinteractive map provides an interface via which users within the indoorlocation may identify walking routes to products sold within the retailstore and presented within the generated interactive map.
 11. Thenon-transitory computer-readable medium of claim 1, wherein the indoorlocation is a retail store, and wherein the generated interactive map ispart of a shopping assist application that presents navigation pathswithin the retail store to users such that the users may utilize thepresented navigation paths to traverse the store and obtain multipleproducts sold by the retail store.
 12. The non-transitorycomputer-readable medium of claim 1, wherein the indoor location is aretail store, and wherein the generated interactive map is part of awayfinder application that presents a path to a location within theretail store that includes a certain product sold by the retail store.13. A method of creating a digital map of a retail environment, themethod comprising; accessing images of a retail environment captured viamultiple security cameras placed within the retail environment; creatingan aerial, wide area, view of the retail environment by stitchingtogether the accessed images; identifying multiple layout featureswithin the created aerial view of the retail environment; andtransforming the aerial view into a two-dimensional map of the retailenvironment using the identified multiple layout features.
 14. Themethod of claim 13, wherein the multiple layout features include pointof sale counters and racks within the retail environment, and whereintransforming the aerial view into a two-dimensional map of the retailenvironment using the identified multiple layout features includesestimating walking paths within the retail environment based onpositions of the point of sale counters and racks within the retailenvironment.
 15. The method of claim 13, further comprising: displaying,via a wayfinding application that presents wayfinding routes tocustomers within the retail environment, one or more products soldwithin the retail environment within the two-dimensional map.
 16. Themethod of claim 13, wherein the multiple security cameras include PZT(pan, zoom, tilt) cameras configured to capture images of the retailenvironment.
 17. The method of claim 13, wherein the multiple layoutfeatures include static fixtures within the retail environment.
 18. Themethod of claim 13, wherein the multiple layout features includedynamically moving objects within the retail environment.
 19. A system,comprising: an image module configured to access images of a retailenvironment captured via multiple security cameras placed within theretail environment; and a map generation module configured to generate amap depicting a layout of the retail environment based on featuresextracted from the accessed images, by: creating an aerial view of theretail environment by stitching together the accessed images to form acombined image of the retail environment; identifying multiple layoutfeatures within the combined image of the retail environment; andtransforming the combined image into a two-dimensional map of the retailenvironment using the identified multiple layout features.
 20. Thesystem of claim 19, wherein transforming the combined image into atwo-dimensional map of the retail environment using the identifiedmultiple layout features includes estimating traversable paths withinthe retail environment based on positions of the multiple layoutfeatures within the combined image.